Dynamics of a beam with two sleights via systems of implicit differential equations

Mathematics. Physics. Mechanics


Zakalyukin I. V.

Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia


The qualitative behavior of a non-holonomic mechanical system fr om robotics is investigated in a vicinity of the sub-manifold wh ere the rank of the system of the constraint equation falls down. New method to study singularities of first integrals of non-holonomic systems which can be reduced to a system of two first order implicit differential equations in two unknown generalized coordinates


First integrals; singularities; degeneration of non-holonomic constraints; Whitney umbrella.


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